Collaborative Behavior for Non-Conventional Custom-Made Robotics: A Cable-Driven Parallel Robot Application
Julio Garrido,
Diego Silva-Muñiz,
Enrique Riveiro,
Josué Rivera-Andrade,
Juan Sáez
Affiliations
Julio Garrido
Research Group on Efficient and Digital Engineering, Automation and System Engineering Department, School of Industrial Engineering, Campus As Lagoas-Marcosende, Universidade de Vigo, 36310 Vigo, Spain
Diego Silva-Muñiz
Research Group on Efficient and Digital Engineering, Automation and System Engineering Department, School of Industrial Engineering, Campus As Lagoas-Marcosende, Universidade de Vigo, 36310 Vigo, Spain
Enrique Riveiro
Research Group on Efficient and Digital Engineering, Automation and System Engineering Department, School of Industrial Engineering, Campus As Lagoas-Marcosende, Universidade de Vigo, 36310 Vigo, Spain
Josué Rivera-Andrade
Research Group on Efficient and Digital Engineering, Automation and System Engineering Department, School of Industrial Engineering, Campus As Lagoas-Marcosende, Universidade de Vigo, 36310 Vigo, Spain
Juan Sáez
Research Group on Efficient and Digital Engineering, Automation and System Engineering Department, School of Industrial Engineering, Campus As Lagoas-Marcosende, Universidade de Vigo, 36310 Vigo, Spain
The human-centric approach is a leading trend for future production processes, and collaborative robotics are key to its realization. This article addresses the challenge of designing a new custom-made non-conventional machine or robot involving toolpath control (interpolated axes) with collaborative functionalities but by using “general-purpose standard” safety and motion control technologies. This is conducted on a non-conventional cable-driven parallel robot (CDPR). Safety is assured by safe commands to individual axes, known as safe motion monitoring functionalities, which limit the axis’s speed in the event of human intrusion. At the same time, the robot’s motion controller applies an override to the toolpath speed to accommodate the robot’s path speed to the limitations of the axes. The implementation of a new Pre-Warning Zone prevents unnecessary stops due to the approach of the human operator. The article also details a real experiment that validates the effectiveness of the proposed strategy.
